lsm303c.c

00001 /**
00002   ******************************************************************************
00003   * @file    lsm303c.c
00004   * @author  MCD Application Team
00005   * @version V1.0.0
00006   * @date    24-June-2015
00007   * @brief   This file provides a set of functions needed to manage the LSM303C
00008   *          MEMS accelerometer.
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013   *
00014   * Redistribution and use in source and binary forms, with or without modification,
00015   * are permitted provided that the following conditions are met:
00016   *   1. Redistributions of source code must retain the above copyright notice,
00017   *      this list of conditions and the following disclaimer.
00018   *   2. Redistributions in binary form must reproduce the above copyright notice,
00019   *      this list of conditions and the following disclaimer in the documentation
00020   *      and/or other materials provided with the distribution.
00021   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022   *      may be used to endorse or promote products derived from this software
00023   *      without specific prior written permission.
00024   *
00025   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035   *
00036   ******************************************************************************
00037   */
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "lsm303c.h"
00040 
00041 /** @addtogroup BSP
00042   * @{
00043   */ 
00044 
00045 /** @addtogroup Components
00046   * @{
00047   */ 
00048 
00049 /** @addtogroup LSM303C
00050   * @{
00051   */
00052 
00053 /** @defgroup LSM303C_Private_TypesDefinitions
00054   * @{
00055   */
00056 
00057 /**
00058   * @}
00059   */
00060 
00061 /** @defgroup LSM303C_Private_Defines
00062   * @{
00063   */
00064 
00065 /**
00066   * @}
00067   */
00068 
00069 /** @defgroup LSM303C_Private_Macros
00070   * @{
00071   */
00072 
00073 /**
00074   * @}
00075   */ 
00076 
00077 /** @defgroup LSM303C_Private_Functions
00078   * @{
00079   */
00080 
00081 /* ACCELEROMETER functions */
00082 void    LSM303C_AccInit(uint16_t InitStruct);
00083 void    LSM303C_AccDeInit(void);
00084 uint8_t LSM303C_AccReadID(void);
00085 void    LSM303C_AccLowPower(void);
00086 void    LSM303C_AccFilterConfig(uint8_t FilterStruct);
00087 void    LSM303C_AccFilterCmd(uint8_t HighPassFilterState);
00088 void    LSM303C_AccReadXYZ(int16_t* pData);
00089 void    LSM303C_AccFilterClickCmd(uint8_t HighPassFilterClickState);
00090 void    LSM303C_AccIT1Enable(uint8_t LSM303C_IT);
00091 void    LSM303C_AccIT1Disable(uint8_t LSM303C_IT);
00092 void    LSM303C_AccIT2Enable(uint8_t LSM303C_IT);
00093 void    LSM303C_AccIT2Disable(uint8_t LSM303C_IT);
00094 void    LSM303C_AccClickITEnable(uint8_t ITClick);
00095 void    LSM303C_AccClickITDisable(uint8_t ITClick);
00096 void    LSM303C_AccZClickITConfig(void);
00097 
00098 /* MAGNETOMETER functions */
00099 void    LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct);
00100 void    LSM303C_MagDeInit(void);
00101 uint8_t LSM303C_MagReadID(void);
00102 void    LSM303C_MagLowPower(void);
00103 void    LSM303C_MagReadXYZ(int16_t* pData);
00104 uint8_t LSM303C_MagGetDataStatus(void);
00105 
00106 
00107 /* COMPASS / ACCELERO IO functions */
00108 extern void    ACCELERO_IO_Init(void);
00109 extern void    ACCELERO_IO_ITConfig(void);
00110 extern void    ACCELERO_IO_Write(uint8_t RegisterAddr, uint8_t Value);
00111 extern uint8_t ACCELERO_IO_Read(uint8_t RegisterAddr);
00112 
00113 /* COMPASS IO function */
00114 extern void    MAGNETO_IO_Init(void);
00115 extern void    MAGNETO_IO_ITConfig(void);
00116 extern void    MAGNETO_IO_Write(uint8_t RegisterAddr, uint8_t Value);
00117 extern uint8_t MAGNETO_IO_Read(uint8_t RegisterAddr);
00118 
00119 /**
00120   * @}
00121   */ 
00122 
00123 
00124 /** @defgroup LSM303C_Private_Variables
00125   * @{
00126   */ 
00127 ACCELERO_DrvTypeDef Lsm303cDrv_accelero =
00128 {
00129   LSM303C_AccInit,
00130   LSM303C_AccDeInit,
00131   LSM303C_AccReadID,
00132   0,
00133   LSM303C_AccLowPower,
00134   0,
00135   0,
00136   0,
00137   0,
00138   0,
00139   LSM303C_AccFilterConfig,
00140   0,
00141   LSM303C_AccReadXYZ
00142 };
00143 
00144 MAGNETO_DrvTypeDef Lsm303cDrv_magneto =
00145 {
00146   LSM303C_MagInit,
00147   LSM303C_MagDeInit,
00148   LSM303C_MagReadID,
00149   0,
00150   LSM303C_MagLowPower,
00151   0,
00152   0,
00153   0,
00154   0,
00155   0,
00156   0,
00157   0,
00158   LSM303C_MagReadXYZ
00159   
00160 };
00161 
00162 /**
00163   * @}
00164   */
00165 
00166 
00167 /**
00168   * @brief  Set LSM303C Accelerometer Initialization.
00169   * @param  InitStruct: Init parameters
00170   * @retval None
00171   */
00172 void LSM303C_AccInit(uint16_t InitStruct)
00173 {  
00174   uint8_t ctrl = 0x00;
00175   
00176   /*  Low level init */
00177   ACCELERO_IO_Init();
00178   
00179   /* Write value to ACC MEMS CTRL_REG1 register */
00180   ctrl = (uint8_t) InitStruct;
00181   ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
00182   
00183   /* Write value to ACC MEMS CTRL_REG4 register */
00184   ctrl = ((uint8_t) (InitStruct >> 8));
00185   ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, ctrl);
00186 }
00187 
00188 /**
00189   * @brief  LSM303C Accelerometer De-initialization.
00190   * @param  None
00191   * @retval None
00192   */
00193 void LSM303C_AccDeInit(void)
00194 {  
00195 }
00196 
00197 /**
00198   * @brief  Read LSM303C ID.
00199   * @param  None
00200   * @retval ID 
00201   */
00202 uint8_t LSM303C_AccReadID(void)
00203 {  
00204   uint8_t ctrl = 0x00;
00205   
00206   /* Low level init */
00207   ACCELERO_IO_Init();
00208   
00209   /* Enabled SPI/I2C read communication */
00210   ACCELERO_IO_Write(LSM303C_CTRL_REG4_A, 0x5);
00211   
00212   /* Read value at Who am I register address */
00213   ctrl = ACCELERO_IO_Read(LSM303C_WHO_AM_I_ADDR);
00214   
00215   return ctrl;
00216 }
00217 
00218 /**
00219   * @brief  Put Accelerometer in power down mode.
00220   * @param  None
00221   * @retval None 
00222   */
00223 void LSM303C_AccLowPower(void)
00224 {  
00225   uint8_t ctrl = 0x00;
00226   
00227   /* Read control register 1 value */
00228   ctrl = ACCELERO_IO_Read(LSM303C_CTRL_REG1_A);
00229 
00230   /* Clear ODR bits */
00231   ctrl &= ~(LSM303C_ACC_ODR_BITPOSITION);
00232 
00233   /* Set Power down */
00234   ctrl |= LSM303C_ACC_ODR_OFF;
00235   
00236   /* write back control register */
00237   ACCELERO_IO_Write(LSM303C_CTRL_REG1_A, ctrl);
00238 }
00239 
00240 /**
00241   * @brief  Set High Pass Filter Modality
00242   * @param  FilterStruct: contains data for filter config
00243   * @retval None
00244   */
00245 void LSM303C_AccFilterConfig(uint8_t FilterStruct) 
00246 {
00247   uint8_t tmpreg;
00248   
00249 //  /* Read CTRL_REG2 register */
00250 //  tmpreg = ACCELERO_IO_Read(LSM303C_CTRL_REG2_A);
00251 //  
00252 //  tmpreg &= 0x0C;
00253   tmpreg = FilterStruct;
00254   
00255   /* Write value to ACC MEMS CTRL_REG2 register */
00256   ACCELERO_IO_Write(LSM303C_CTRL_REG2_A, tmpreg);
00257 }
00258 
00259 /**
00260   * @brief  Read X, Y & Z Acceleration values 
00261   * @param  pData: Data out pointer
00262   * @retval None
00263   */
00264 void LSM303C_AccReadXYZ(int16_t* pData)
00265 {
00266   int16_t pnRawData[3];
00267   uint8_t ctrlx[2]={0,0};
00268   uint8_t buffer[6];
00269   uint8_t i = 0;
00270   uint8_t sensitivity = LSM303C_ACC_SENSITIVITY_2G;
00271   
00272   /* Read the acceleration control register content */
00273   ctrlx[0] = ACCELERO_IO_Read(LSM303C_CTRL_REG4_A);
00274   ctrlx[1] = ACCELERO_IO_Read(LSM303C_CTRL_REG5_A);
00275   
00276   /* Read output register X, Y & Z acceleration */
00277   buffer[0] = ACCELERO_IO_Read(LSM303C_OUT_X_L_A); 
00278   buffer[1] = ACCELERO_IO_Read(LSM303C_OUT_X_H_A);
00279   buffer[2] = ACCELERO_IO_Read(LSM303C_OUT_Y_L_A);
00280   buffer[3] = ACCELERO_IO_Read(LSM303C_OUT_Y_H_A);
00281   buffer[4] = ACCELERO_IO_Read(LSM303C_OUT_Z_L_A);
00282   buffer[5] = ACCELERO_IO_Read(LSM303C_OUT_Z_H_A);
00283   
00284   for(i=0; i<3; i++)
00285   {
00286     pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
00287   }
00288   
00289   /* Normal mode */
00290   /* Switch the sensitivity value set in the CRTL4 */
00291   switch(ctrlx[0] & LSM303C_ACC_FULLSCALE_8G)
00292   {
00293   case LSM303C_ACC_FULLSCALE_2G:
00294     sensitivity = LSM303C_ACC_SENSITIVITY_2G;
00295     break;
00296   case LSM303C_ACC_FULLSCALE_4G:
00297     sensitivity = LSM303C_ACC_SENSITIVITY_4G;
00298     break;
00299   case LSM303C_ACC_FULLSCALE_8G:
00300     sensitivity = LSM303C_ACC_SENSITIVITY_8G;
00301     break;
00302   }
00303   
00304   /* Obtain the mg value for the three axis */
00305   for(i=0; i<3; i++)
00306   {
00307     pData[i]=(pnRawData[i] * sensitivity);
00308   }
00309 }
00310 
00311 /***********************************************************************************************
00312   Magnetometer driver 
00313 ***********************************************************************************************/
00314 
00315 /**
00316   * @brief  Set LSM303C Magnetometer Initialization.
00317   * @param  LSM303C_InitStruct: pointer to a LSM303C_MagInitTypeDef structure 
00318   *         that contains the configuration setting for the LSM303C.
00319   * @retval None
00320   */
00321 void LSM303C_MagInit(MAGNETO_InitTypeDef LSM303C_InitStruct)
00322 {  
00323   MAGNETO_IO_Write(LSM303C_CTRL_REG1_M, LSM303C_InitStruct.Register1);
00324   MAGNETO_IO_Write(LSM303C_CTRL_REG2_M, LSM303C_InitStruct.Register2);
00325   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, LSM303C_InitStruct.Register3);
00326   MAGNETO_IO_Write(LSM303C_CTRL_REG4_M, LSM303C_InitStruct.Register4);
00327   MAGNETO_IO_Write(LSM303C_CTRL_REG5_M, LSM303C_InitStruct.Register5);
00328 }
00329 
00330 /**
00331   * @brief  LSM303C Magnetometer De-initialization.
00332   * @param  None
00333   * @retval None
00334   */
00335 void LSM303C_MagDeInit(void)
00336 {  
00337 }
00338 
00339 /**
00340   * @brief  Read LSM303C ID.
00341   * @param  None
00342   * @retval ID 
00343   */
00344 uint8_t LSM303C_MagReadID(void)
00345 {  
00346   /* Low level init */
00347   MAGNETO_IO_Init();
00348   
00349   /* Enabled the SPI/I2C read operation */
00350   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, 0x84);
00351   
00352   /* Read value at Who am I register address */
00353   return MAGNETO_IO_Read(LSM303C_WHO_AM_I_ADDR);
00354 }
00355 
00356 /**
00357   * @brief  Put Magnetometer in power down mode.
00358   * @param  None
00359   * @retval None 
00360   */
00361 void LSM303C_MagLowPower(void)
00362 {  
00363   uint8_t ctrl = 0x00;
00364   
00365   /* Read control register 1 value */
00366   ctrl = MAGNETO_IO_Read(LSM303C_CTRL_REG3_M);
00367 
00368   /* Clear ODR bits */
00369   ctrl &= ~(LSM303C_MAG_SELECTION_MODE);
00370 
00371   /* Set Power down */
00372   ctrl |= LSM303C_MAG_POWERDOWN2_MODE;
00373   
00374   /* write back control register */
00375   MAGNETO_IO_Write(LSM303C_CTRL_REG3_M, ctrl);
00376 }
00377 
00378 /**
00379   * @brief  Get status for Mag LSM303C data
00380   * @param  None
00381   * @retval Data status in a LSM303C Data register
00382   */
00383 uint8_t LSM303C_MagGetDataStatus(void)
00384 {
00385   /* Read Mag STATUS register */
00386   return MAGNETO_IO_Read(LSM303C_STATUS_REG_M);
00387 }
00388 
00389 /**
00390   * @brief  Read X, Y & Z Magnetometer values 
00391   * @param  pData: Data out pointer
00392   * @retval None
00393   */
00394 void LSM303C_MagReadXYZ(int16_t* pData)
00395 {
00396   uint8_t ctrlx;
00397   uint8_t buffer[6];
00398   uint8_t i=0;
00399   
00400   /* Read the magnetometer control register content */
00401   ctrlx = MAGNETO_IO_Read(LSM303C_CTRL_REG4_M);
00402 
00403   /* Read output register X, Y & Z magnetometer */
00404   buffer[0] = MAGNETO_IO_Read(LSM303C_OUT_X_L_M); 
00405   buffer[1] = MAGNETO_IO_Read(LSM303C_OUT_X_H_M);
00406   buffer[2] = MAGNETO_IO_Read(LSM303C_OUT_Y_L_M);
00407   buffer[3] = MAGNETO_IO_Read(LSM303C_OUT_Y_H_M);
00408   buffer[4] = MAGNETO_IO_Read(LSM303C_OUT_Z_L_M);
00409   buffer[5] = MAGNETO_IO_Read(LSM303C_OUT_Z_H_M);
00410   
00411   /* Check in the control register4 the data alignment*/
00412   if((ctrlx & LSM303C_MAG_BLE_MSB)) 
00413   {
00414     for(i=0; i<3; i++)
00415     {
00416       pData[i]=((int16_t)((uint16_t)buffer[2*i] << 8) + buffer[2*i+1]);
00417     }
00418   }
00419   else
00420   {
00421     for(i=0; i<3; i++)
00422     {
00423       pData[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i]);
00424     }
00425   }
00426 }
00427 
00428 /**
00429   * @}
00430   */ 
00431 
00432 /**
00433   * @}
00434   */ 
00435   
00436 /**
00437   * @}
00438   */ 
00439 
00440 /**
00441   * @}
00442   */ 
00443   
00444 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/